Class: Rotor::Stepper

Inherits:
Object
  • Object
show all
Defined in:
lib/rotor/motor.rb

Instance Method Summary collapse

Constructor Details

#initialize(coil_A_1_pin, coil_A_2_pin, coil_B_1_pin, coil_B_2_pin, enable_pin) ⇒ Stepper

Returns a new instance of Stepper.



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# File 'lib/rotor/motor.rb', line 4

def initialize(coil_A_1_pin, coil_A_2_pin, coil_B_1_pin, coil_B_2_pin, enable_pin)
  @io = WiringPi::GPIO.new(WPI_MODE_GPIO)
  @coil_A_1_pin = coil_A_1_pin
  @coil_A_2_pin = coil_A_2_pin
  @coil_B_1_pin = coil_B_1_pin
  @coil_B_2_pin = coil_B_2_pin
  @enable_pin = enable_pin
  [coil_A_1_pin, coil_A_2_pin, coil_B_1_pin, coil_B_2_pin, enable_pin].each do |pin|
    `echo #{pin} > /sys/class/gpio/unexport`
    @io.mode(pin,OUTPUT)
    @io.write(pin,LOW)
  end
  @io.write(enable_pin,HIGH)
end

Instance Method Details

#backwards(delay = 5, steps = 100) ⇒ Object 



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# File 'lib/rotor/motor.rb', line 33

def backwards(delay=5,steps=100)
  delay_time = delay/1000.0
  (0..steps).each do |i|
    set_step(1, 0, 0, 1)
    sleep delay_time
    set_step(0, 1, 0, 1)
    sleep delay_time
    set_step(0, 1, 1, 0)
    sleep delay_time
    set_step(1, 0, 1, 0)
    sleep delay_time
  end
end

#forward(delay = 5, steps = 100) ⇒ Object 



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# File 'lib/rotor/motor.rb', line 19

def forward(delay=5,steps=100)
  delay_time = delay/1000.0
  (0..steps).each do |i|
    set_step(1, 0, 1, 0)
    sleep delay_time
    set_step(0, 1, 1, 0)
    sleep delay_time
    set_step(0, 1, 0, 1)
    sleep delay_time
    set_step(1, 0, 0, 1)
    sleep delay_time
  end
end

#set_step(w1, w2, w3, w4) ⇒ Object 



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# File 'lib/rotor/motor.rb', line 47

def set_step(w1, w2, w3, w4)
  @io.write(@coil_A_1_pin, w1)
  @io.write(@coil_A_2_pin, w2)
  @io.write(@coil_B_1_pin, w3)
  @io.write(@coil_B_2_pin, w4)
end